Masters Theses

Abstract

"In this thesis, the framework developed to control a single nonholonomic mobile robot is expanded to include the control of formations of multiple nonholonomic mobile robots. A combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers typically found in literature"--Abstract, page iv.

Advisor(s)

Sarangapani, Jagannathan, 1965-

Committee Member(s)

Smith, Scott C.
Erickson, Kelvin T.

Department(s)

Electrical and Computer Engineering

Degree Name

M.S. in Electrical Engineering

Sponsor(s)

United States. Department of Education. Graduate Assistance in Areas of National Need

Publisher

University of Missouri--Rolla

Publication Date

Summer 2007

Journal article titles appearing in thesis/dissertation

  • Control of nonholonomic mobile robot formations: backstepping kinematics into dynamics
  • Neural network control of nonholonomic mobile robot formations

Pagination

xi, 95 pages

Note about bibliography

Includes bibliographical references (pages 273-278).

Rights

© 2007 Travis Dierks, All rights reserved.

Document Type

Thesis - Open Access

File Type

text

Language

English

Subject Headings

Lyapunov stability
Mobile robots -- Design and construction
Nonholonomic dynamical systems
Robots -- Control systems

Thesis Number

T 9255

Print OCLC #

233699637

Electronic OCLC #

182560205

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